156B Week 3
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Design honed considerably. Weight and motion budget were finalized for motor selection, but extensive FEA needs to be done to confirm our design has the appropriate strength and modes to meet sponsor requirements. Only then (approx week 5) will we purchase materials.
Accomplishments from Previous Week
Motors selected
Connector hardware design decisions made
CAD model updated
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Separate CAD into (detailed) design and (simplified) analytical versions
Rigid body kinematic model (joint forces)
FEA (modal and stress)
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Determined benefits of customization of existing systems vs ground-development of new robotic system (4/10) (COTS arms don’t meet the problem requirements and would take more work to customize than to build from scratch; t-slot and Dynamixel compatible hardware are easy for sponsor to replace.
Requested options for stall-torque multipliers and various mass configurations and their associated costs ($) 4/10. We provided them with options and justifications suffice to to make Servo selections (4/15) as shown in the table below:
All in person
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Consider realistic stall torque vs operational torque 4/9, motors of 2x and 3x our max operational torque were selected on 4/15
Continue to discuss how extensive the analysis needs to be for the scope of this project on 4/16
In person
Comments from Other Students in the Class (indicate date of comments and if via email or in person)
N/a
Risks and Areas of Concern
Scheduling: sponsor indicates analysis will likely take weeks rather than days
Sponsor confirmed that the analysis will be difficult and offered in person assistance
Resources or Information Required but not Available
N/a
Schedule
FEA analysis
Gantt chart updated
Budget (list amount spent and amount remaining)
Sponsor has spent $2,200.00 on motors outside of the project budget.
Progress on Report and Webpage
Chapter 1 of report revised
Impact on Society added